A major limitation of MPC has been a lack of computational efficiency as evident in many robotic applications such as the Atlas humanoid robot [1]} and the MIT Cheetah robot [2]}.
To overcome this shortcoming, we have three basic approaches: 1) developing an efficient implicit MPC policy, 2) precompiling an explicit MPC policy, and 3) approximating the MPC policy by an efficient surrogate policy such as a NN.
